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JANESVILLE—A Whitewater man pleaded guilty Tuesday to five felony charges for his role in a violent January home invasion and robbery in the town of Fulton.

Christopher A. Kimps, 25, had been charged with nine counts, eight of them felonies, for breaking into a rural home and stealing money, dozens of guns and a pickup truck along with three friends the night of Jan. 11, according to court documents.

Kimps threatened the homeowners with a shotgun, bound both of them with duct tape and kicked one of them in the face as he opened a safe with a gun to his head, according to a criminal complaint.

Later that evening, Kimps led police on a chase through downtown Janesville, authorities said.

At one point, they said, Kimps drove across the lawn in front of the Rock County Courthouse, where he sat Tuesday morning.

Kimps and the three people suspected of being his accomplices—22-year-old Jesse D. Adams of Beloit, 20-year-old Sarah A. Buckingham of Monroe and 22-year-old Kayla L. Pearson of Janesville—were arrested a couple of days later in Sauk County, police said.

The four have been charged with a combined 22 felonies and 4 misdemeanors in Rock County Court.

Kimps pleaded guilty to charges of armed robbery, theft of firearms, driving a car without the owner's consent, possessing a firearm as a convicted felon and attempting to flee or elude police.

Four other counts—armed burglary, false imprisonment, misdemeanor battery and another charge of driving a car without the owner's consent—were dismissed and read into the record as part of a plea agreement.

Adams, Buckingham and Pearson all have plea hearings scheduled for next week, according to online court records.